Construction of piecewise Lyapunov functions for stabilizing switched systems

This paper discusses the problem of stabilizing a pair of switched linear systems. A control law is developed using a Lyapunov function having a piecewise continuous derivative. A Lyapunov function yielding a stable switching rule is shown to exist as long as there exists a stable convex combination of the system matrices. The use of this stable combination for other control strategies is explored.<
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